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AVT Bonito Technical Manual High-speed high-resolution CMOS Camera V2.2.1 11 May 2012 Allied Vision Technologies GmbH Taschenweg 2a D-07646 Stadtroda / Germany Legal notice Life support applications These products are not designed for use in life support appliances, devices, or systems where malfunction of these products can reasonably be expected to result in personal injury. Allied Vision Technologies customers using or selling these products for use in such applications do so at their own risk and agree to fully indemnify Allied for any damages resulting from such improper use or sale. Trademarks Unless stated otherwise, all trademarks appearing in this document of Allied Vision Technologies are brands protected by law. Warranty The information provided by Allied Vision Technologies is supplied without any guarantees or warranty whatsoever, be it specific or implicit. Also excluded are all implicit warranties concerning the negotiability, the suitability for specific applications or the non-breaking of laws and patents. Even if we assume that the information supplied to us is accurate, errors and inaccuracy may still occur. Copyright All texts, pictures and graphics are protected by copyright and other laws protecting intellectual property. It is not permitted to copy or modify them for trade use or transfer, nor may they be used on web sites. Allied Vision Technologies GmbH 05/2012 All rights reserved. Managing Director: Mr. Frank Grube Tax ID: DE 184383113 Headquarters: Taschenweg 2A D-07646 Stadtroda, Germany Tel.: +49 (0)36428 6770 Fax: +49 (0)36428 677-28 e-mail: [email protected] Bonito Technical Manual V2.2.1 2 Contents Contacting Allied Vision Technologies ................................................... 5 Introduction ............................................................................................................ 6 Document history............................................................................................................ 6 Manual overview ............................................................................................................. 8 Conventions used in this manual ........................................................................................ 9 Styles ....................................................................................................................... 9 Symbols .................................................................................................................... 9 Before operation........................................................................................................... 10 Safety warnings ............................................................................................................ 10 Conformity ..............................................................................................................11 CE .......................................................................................................................... 11 Specifications .......................................................................................................12 Bonito CL-400B/C, Bonito CL-400B/C 200fps ................................................................... 12 Spectral sensitivity ........................................................................................................ 14 Camera dimensions ..........................................................................................15 Bonito CL-400B/C C-Mount ............................................................................................ 15 Bonito CL-400B/C EF-Mount ........................................................................................... 16 Bonito CL-400B/C F-Mount ............................................................................................ 16 Back view of Bonito CL-400B/C C-/EF-Mount...................................................................... 17 Back view of Bonito CL-400B/C C-/EF-/F-Mount 200fps......................................................... 18 Camera interfaces .............................................................................................19 Requirements and serial I/O ............................................................................................ 19 Frame grabber requirements ....................................................................................... 19 PC Hardware requirements.......................................................................................... 19 Camera link cable length ............................................................................................ 19 Accessories.............................................................................................................. 20 Serial I/O ................................................................................................................ 20 Camera I/O connector pin assignment (15-pin D-Sub jack) ....................................................................................................... 23 Power supply (pin 1-4)............................................................................................... 23 Synchronization output (pin 6).................................................................................... 24 Serial interface (pin 7-8) ............................................................................................ 24 Trigger input (pin 10-11)............................................................................................ 25 Exposure output (pin 12-13) ....................................................................................... 25 Reserve I/O (pin 5, 9 and 14-15).................................................................................. 26 Camera Link interface (O1-O4 or CL1, CL2) ......................................27 Camera link connectors and 10-tap pin assignment.............................................................. 27 Bonito Technical Manual V2.2.1 3 Serial interface (SerTC, SerTFG) ........................................................................................ 30 Trigger inputs (CC1)....................................................................................................... 30 Reserve control input (CC2)............................................................................................. 31 Pixel order ................................................................................................................... 31 Timing (FVAL, LVAL, PCLK) .............................................................................................. 33 Parameters and Commands .........................................................................35 Primary starting address (A) ............................................................................................ 35 Secondary starting address (B) ........................................................................................ 36 Fixed Pattern Noise (FPN) Correction (C) ............................................................................ 36 Double region of interest mode (D)................................................................................... 37 Exposure time (E).......................................................................................................... 37 Frame duration (F) ........................................................................................................ 37 Digital gain (G)............................................................................................................. 38 Line address increment (I) .............................................................................................. 38 Synchronization output (J) ............................................................................................. 39 Timer prescaler value (K) ................................................................................................ 39 Exposure control mode (M) ............................................................................................. 40 Number of lines (N) ....................................................................................................... 46 Camera Link output mode setting (S) ................................................................................ 47 Trigger source selection (T) ............................................................................................. 48 Metadata overlay and test image generator (U) ................................................................... 48 Dark value offset (W) ..................................................................................................... 49 Version information (V) .................................................................................................. 50 Save parameters (X)....................................................................................................... 50 Parameter summary (Y) .................................................................................................. 50 Reset to factory defaults (Z) ............................................................................................ 51 Serial number (a) .......................................................................................................... 51 Product variant code (b) ................................................................................................. 52 Baud rate (s) ................................................................................................................ 53 Show Help text (?)......................................................................................................... 54 Bayer filter mosaic pattern...........................................................................55 Appendix ..................................................................................................................56 Command reference ....................................................................................................... 56 Index...........................................................................................................................65 Bonito Technical Manual V2.2.1 4 Contacting Allied Vision Technologies Contacting Allied Vision Technologies Info • Technical information: http://www.alliedvisiontec.com • Support: [email protected] Allied Vision Technologies GmbH (Headquarters) Taschenweg 2a 07646 Stadtroda, Germany Tel.: +49 36428-677-0 Fax.: +49 36428-677-28 e-mail: [email protected] Allied Vision Technologies Canada Inc. 101-3750 North Fraser Way Burnaby, BC, V5J 5E9, Canada Tel: +1 604-875-8855 Fax: +1 604-875-8856 e-mail: [email protected] Allied Vision Technologies Inc. 38 Washington Street Newburyport, MA 01950, USA Tel.: +1 978-225-2030 Fax: +1 978-225-2029 e-mail: [email protected] Allied Vision Technologies Asia Pte. Ltd. 82 Playfair Road #07-02 D’Lithium Singapore 368001 Tel: +65 6634-9027 Fax: +65 6634-902 e-mail: [email protected] Bonito Technical Manual V2.2.1 5 Introduction Introduction This Bonito Technical Manual describes in depth the technical specifications, dimensions, all pixel formats, bandwidth and frame rate related subjects. Note Please read through this manual carefully. Document history Version Date Remarks V2.0.0 03.11.11 New Bonito Technical Manual V2.1.0 23.01.12 • • • • Corrected Power supply values and mass values in Chapter Bonito CL-400B/C, Bonito CL-400B/C 200fps on page 12 Added F-Mount in legend of Figure 5: Bonito CL-400B/C C-/ F-/EF-Mount (back) on page 17 Corrected power supply values in: – Chapter Accessories on page 20 – Chapter Camera I/O connector pin assignment (15-pin D-Sub jack) on page 23 – Chapter Power supply (pin 1-4) on page 23 Marked pin 5,6 and 14,15 as Reserve in Chapter Camera I/O connector pin assignment (15-pin D-Sub jack) on page 23 and changed description in Chapter Reserve I/O (pin 5, 9 and 14-15) on page 26 Some minor corrections in • • • Chapter Fixed Pattern Noise (FPN) Correction (C) on page 36 Chapter Number of lines (N) on page 46 Chapter Camera Link output mode setting (S) on page 47 to be continued on next page Table 1: Document history Bonito Technical Manual V2.2.1 6 Introduction Version Date Remarks continued from last page V2.2.0 03.05.12 Added description of new features in camera firmware V1.0.7 • • • • • • • • • • • • Changed max. current from 0.36 A to 0.4 A: – Description to power supply: see Chapter Bonito CL400B/C, Bonito CL-400B/C 200fps on page 12 – Chapter Accessories on page 20 – Chapter Power supply (pin 1-4) on page 23 Pin 6 changed from Reserve to Sync: see Chapter Camera I/O connector pin assignment (15-pin D-Sub jack) on page 23ff. Chapter Synchronization output (pin 6) on page 24 In Chapter Exposure output (pin 12-13) on page 25: added Note This output is not recommended for new system designs. on page 26. Added Chapter Synchronization output (J) on page 39 Updated the following chapter to new bit field order: Chapter Exposure control mode (M) on page 40 Range from N=0 (not N=1) in Chapter Number of lines (N) on page 46 Added values 5 and 7 in Chapter Camera Link output mode setting (S) on page 47 In Chapter Reset to factory defaults (Z) on page 51: Corrected E=000006BE (not 000006C1), F=000006BF (not 000006C2) Inserted J=01 and S=00 Added new command reference description in Chapter Command reference on page 56 Added hyperlink to AVT website for DeviceConfig in Chapter Serial I/O on page 20 Changed AOI to ROI in the whole manual to be continued on next page Table 1: Document history Bonito Technical Manual V2.2.1 7 Introduction Version Date Remarks continued from last page V2.2.1 11 May 2012 • • • • • • • • • • Some minor corrections Added 80 bit to Camera Link Full+ – Chapter Bonito CL-400B/C, Bonito CL-400B/C 200fps on page 12 Added 80 bit to clearly describe the 10-tap configuration of the Camera Link standard: – Chapter Camera Link interface (O1-O4 or CL1, CL2) on page 27 – Chapter Camera link connectors and 10-tap pin assignment on page 27 – Table 18: Output mode setting (S) on page 47 Added example drawing: see Figure 12: Example conversion circuit from +/- 6 V RS232 output to 5 V TTL input on page 24 Added information to use exact multiples oft the current line duration: see Chapter Timer prescaler value (K) on page 39 Changed +/-2 tL to tL in Table 13: Exposure control modes: Exposure timing mode (bit group: e) on page 41 Added rising edge description (bit group e, value=2): see Image on demand mode (IOD) with exposure timer on page 42 Added more precise description of PIV mode: see PIV mode = On on page 44. Added new Chapter Product variant code (b) on page 52. Added new Chapter Command reference on page 56ff. Table 1: Document history Manual overview This manual overview outlines the contents of each chapter of this manual. • Chapter Contacting Allied Vision Technologies on page 5 lists AVT contact data (phone numbers and URLs) for both: – Technical information / ordering – Commercial information • Chapter Introduction on page 6 (this chapter) gives you the document history, a manual overview (short description of each chapter) and conventions used in this manual (styles and symbols). • Chapter Conformity on page 11 gives you information about conformity of AVT cameras (CE, FCC, RoHS). • Chapter Specifications on page 12 lists camera details and measured spectral sensitivity diagrams for each camera type. Bonito Technical Manual V2.2.1 8 Introduction • • • Chapter Camera dimensions on page 15 provides CAD drawings of standard housing models (2D drawings and 3D isometric drawings), tripod adapter and cross sections of CS-Mount and C-Mount. Furthermore you find information on adjustment of C-Mount and CS-Mount. Chapter Camera interfaces on page 19 describes in general the inputs/ outputs of the cameras (incl. trigger features). Chapter Index on page 65 gives you quick access to all relevant data in this manual. Conventions used in this manual To give this manual an easily understood layout and to emphasize important information, the following typographical styles and symbols are used: Styles Style Function Example Bold Programs, inputs or highlighting bold important things Courier Code listings etc. Input Upper case Register REGISTER Italics Modes, fields Mode Parentheses and/or blue Links (Link) Table 2: Styles Symbols Note This symbol highlights important information. Caution This symbol highlights important instructions. You have to follow these instructions to avoid malfunctions. Bonito Technical Manual V2.2.1 9 Introduction www This symbol highlights URLs for further information. The URL itself is shown in blue. Example: http://www.alliedvisiontec.com Before operation Target group This Technical Manual is the guide to detailed technical information of the camera and is written for experts. Note Caution Please read through this manual carefully before operating the camera. Before operating any AVT camera read the following safety instructions and ESD warnings. Safety warnings Caution Electrostatic discharge The camera contains sensitive electronic components which can be destroyed by means of electrostatic discharge. Use sufficient grounding to minimize the risk of damage. Bonito Technical Manual V2.2.1 10 Conformity Conformity Allied Vision Technologies declares under its sole responsibility that all standard cameras of the Bonito family to which this declaration relates are in conformity with the following standard(s) or other normative document(s): • CE, following the provisions of 2004/108/EG directive • RoHS (2002/95/EC) CE We declare, under our sole responsibility, that the previously described Bonito cameras conform to the directives of the CE. Bonito Technical Manual V2.2.1 11 Specifications Specifications Note The correct polarity of the 12 V supply voltage must be assured. The warranty becomes void in case of unauthorized tampering or any modifications not approved by the manufacturer. Bonito CL-400B/C, Bonito CL-400B/C 200fps Feature Specification Image device Type 4/3, CMOS progressive with global shutter Effective chip size 16.24 mm (H) x 12.08 mm (V) Cell size 7 μm x 7 μm Picture size (max.) 2320 (H) x 1726 (V) Lens mount C-Mount, Canon EF-Mount, Nikon F-Mount Frame rate Bonito CL-400B/C: up to 386 fps, higher rates with smaller ROI Bonito CL-400B/C 200fps: with one Camera Link channel: up to 193 fps ADC 10 bit Exposure time 1.5 μs ... approx. 1 s Operating temperature 0 °C ... +45 °C Storage temperature -30 °C ... +70 °C Humidity (operating and storage) max. 95% RH, non-condensing Power supply 12 V DC, -10% ... +5%, 0.35 A (4.2 W), max. 0.4 A Digital output Bonito CL-400B/C: 2 x 10-tap Camera Link Full+, 80 bits, 80 MHz, 8 bits per pixel Bonito CL-400B/C 200fps: 1 x 10-tap Camera Link Full+, 80 bits, 80 MHz, 8 bits per pixel Camera control CC1: trigger input, CC2: reserve Serial control Serial via Camera Link or RS232 via control connector Optocoupler inputs 1 external trigger input Optocoupler outputs 1 exposure active signal Table 3: Specification Bonito CL-400B/C, Bonito CL-400B/C 200fps Bonito Technical Manual V2.2.1 12 Specifications Feature Specification Smart features ROI (Region of Interest), fixed pattern noise (FPN) correction, digital gain (selects 8 of 10 bits for output), offset (brightness), continuous mode (image acquisition with maximum frame rate), image on demand mode (triggered image acquisition) Dimensions 44.2 mm x 80 mm x 70 mm (C-Mount) 71 mm x 80 mm x 70 mm (EF-Mount) 73.5 mm x 80 mm x 70 mm (F-Mount) Mass Bonito CL-400B/C (C-Mount): ~360 g Bonito CL-400B/C (EF-Mount): ~410 g Bonito CL-400B/C (F-Mount): ~390 g Bonito CL-400B/C 200fps (C-Mount): ~350 g Bonito CL-400B/C 200fps (EF-Mount): ~400 g Bonito CL-400B/C 200fps (F-Mount): ~380 g Regulations CE, RoHS (2002/95/EC) Table 3: Specification Bonito CL-400B/C, Bonito CL-400B/C 200fps Note Caution The design and specifications for the products described above may change without notice. The camera contains sensitive electronic components which can be destroyed by means of electrostatic discharge (ESD). When handling the camera one has to take care of a sufficient grounding which is obligatory to minimize the risk of damage. Bonito Technical Manual V2.2.1 13 Specifications Spectral sensitivity Figure 1: Spectral sensitivity of Bonito CL-400B Note Due to the sensor manufacturer, the spectral sensitivity curve for the color sensor is not available. Bonito Technical Manual V2.2.1 14 Camera dimensions Camera dimensions Bonito CL-400B/C C-Mount 44,2 80 M5 39.8 C-Mount Connection M5 35 27 50 70 50 0 Ø6 M5 (4x) UNC 1/4" M5 M5 UNC 1/4" and all M5 max. screw depth 8mm 60 M5 (2x) UNC 1/4" and M5 max. screw depth 8mm 27 Figure 2: Camera dimensions: Bonito CL-400B/C C-Mount (front/side) Bonito Technical Manual V2.2.1 15 Camera dimensions Bonito CL-400B/C EF-Mount 71 80 M5 66,6 EF-Mount Connection M5 35 27 M5 (4x) UNC 1/4" M5 M5 UNC 1/4" and all M5 max. screw depth 8mm 60 50 70 65 50 Ø M5 (2x) UNC 1/4" and M5 max. screw depth 8mm 27 Figure 3: Camera dimensions: Bonito CL-400B/C EF-Mount (front/side) Bonito CL-400B/C F-Mount 73,5 80 M5 F-Mount Connection 69,1 M5 35 27 M5 (4x) UNC 1/4" M5 M5 UNC 1/4" and all M5 max. screw depth 8mm 60 50 70 50 0 Ø6 M5 (2x) UNC 1/4" and M5 max. screw depth 8mm 27 Figure 4: Camera dimensions: Bonito CL-400B/C F-Mount (front/side) Bonito Technical Manual V2.2.1 16 Camera dimensions Back view of Bonito CL-400B/C C-/EF-Mount 80 70 15pin D-Sub Jack Camera Link Connection UNC 1/4" max. screw depth 8mm Figure 5: Bonito CL-400B/C C-/F-/EF-Mount (back) LEDs Color Description Pwr Green Power indicator L2 Red Camera operational indicator L3 Red Exposure indicator Figure 6: LEDs Connectors Description Control 12 V DC power supply, RS-232, optocoupler inputs and outputs O1 Camera Link channel A (left) medium/full O2 Camera Link channel A (left) base O3 Camera Link channel B (right) medium/full O4 Camera Link channel B (right) base Figure 7: Connectors Bonito Technical Manual V2.2.1 17 Camera dimensions Back view of Bonito CL-400B/C C-/EF-/F-Mount 200fps 80 15pin D-Sub Jack CL2 70 CL1 Camera Link Connection UNC 1/4" max. screw depth 8mm Figure 8: Bonito CL-400B/C C-/EF-/F-Mount 200fps (back) LEDs Color Description Pwr Green Power indicator L2 Red Camera operational indicator L3 Red Exposure indicator Figure 9: LEDs Connectors Description Control 12 V DC power supply, RS-232, optocoupler inputs and outputs CL1 Camera Link Base CL2 Camera Link Medium/Full Figure 10: Connectors Bonito Technical Manual V2.2.1 18 Camera interfaces Camera interfaces This chapter gives you information on the control junction, inputs and outputs and trigger features. www For accessories like cables or power supply see: http://www.alliedvisiontec.com/emea/products/accessories Go to Camera Link section. Requirements and serial I/O Frame grabber requirements Special care has to be taken in selecting the Camera Link frame grabbers. They should be able to process the 10 taps of each Bonito channel at 80 MHz clock frequency, which leads to a mean data rate of approx. 2 x 737 MiB/s (= 2 x 773 MB/s) net and a burst rate of up to 2 x 763 MiB/s (= 2 x 800 MB/s) net. Camera configuration files for several frame grabbers are available from AVT GmbH on request. Note For more information on frame grabbers see manuals from frame grabber manufacturer. PC Hardware requirements A PC with high performance PCI Express (PCIe) system architecture is needed to cope with the high data rates. At least one free PCIe x4/x8/x16 slot is needed per frame grabber, depending on the specific frame grabber requirements. Generally a short PCIe card may be plugged into a longer PCIe slot (e.g. a PCIe x4 frame grabber into a PCIe x16 slot). Often the main board manufacturers do not connect all lanes of a physical slot to the chipset. So ensure that at least the number of lanes which is needed by the frame grabber is electrically connected in the slot. Refer to the reference manual of the main board for details. Currently we recommend main boards with Intel X58 chipset or better specification regarding the PCIe architecture. Camera link cable length The maximum Camera Link cable length for the Bonito is about 7 m, depending on the cable quality and the frame grabber. Bonito Technical Manual V2.2.1 19 Camera interfaces Accessories The Bonito needs a DC power supply with 12 V at an average current of 0.35 A (max. 0.4 A). The camera is delivered with suitable power supply without power cord. The Bonito is available with C-Mount, F-Mount or EF-Mount lens adapter. Please consider the CMOS sensor size for lens selection. The lens should fully illuminate an area of 16 mm x 12 mm (ø 20 mm, type 4/3). The software depends on the frame grabber. A software development kit (SDK) and a demo software for first live preview is usually provided by the frame grabber manufacturer. Serial I/O To configure the Bonito camera, an asynchronous serial command interface is provided. By default this command interface is internally routed via the Camera Link connector O2 (SerTC, SerTFG) or CL1 (Bonito CL-400B/C 200fps), but the RS232 signals at the 15-pin D-SUB control connector may also be used. AVT provides the software DeviceConfig which can control the camera via standard PC RS232 COM ports and since version 1.2.1 also via the serial interface of the frame grabber. The latter needs a DLL provided by the frame grabber’s manufacturer (clser*.dll). www For more information on DeviceConfig see http://www.alliedvisiontec.com/emea/products/software/ windows/deviceconfig.html Note For more information about serial communication via Camera Link please refer to the documentation of the particular frame grabber. By default the serial interface uses the following parameters: • 115200 Baud • 8 data bits • 1 stop bit • No parity • No handshake The baud rate is factory-set to 115200 but can also be configured to other values: for more information see Chapter Baud rate (s) on page 53. In all command examples the characters sent to the camera are represented in Bold Courier Font and the camera’s answer in Plain Courier Font. Bonito Technical Manual V2.2.1 20 Camera interfaces At power-up the camera loads the stored parameter configuration from its nonvolatile memory and sends a start message after successful initialization to all activated serial interfaces. This message is e.g. similar to the following: Bonito CL / CMC-4000 CMOS High-Speed Camera Version: CMC.040.xx.yy > The command prompt character > signals that the camera is ready to receive and process the next command. Each command consists of a command letter, followed by an equality sign and a parameter value in hexadecimal number representation. The command letter is case sensitive. Hexadecimal values are always upper case and are 1 to 8 hex digits long. The command is activated by a carriage return ([CR], ASCII character number 0x0D). Serial communication operates in echo mode by default. This means that each character received by the camera is echoed back to the sender. Thus all serial commands (exceptions: V, Y, a, ?) have the following general syntax: >A=wxyz[CR] Sign Description A Command or parameter letter (observe upper and lower case printing!) = Equality sign (0x3D) wxyz 1-8 digits long value in hexadecimal number representation (capital letters) [CR] Carriage Return (0x0D) [LF] Line Feed (0x0A) Table 4: Syntax of serial commands The following example sets the exposure time to 1000 = 0x3E8 time units: 1. The user sends the six characters E=3E8[CR] 2. The camera answers with nine characters (echo followed by new prompt) E=3E8[CR][CR][LF]> 3. A terminal program without local echo displays E=3E8 > The command prompt character > always shows that the execution of the command has finished and the camera is ready for the next command. If any error occurred, somewhere previous to the prompt character a question mark character ? is sent. Bonito Technical Manual V2.2.1 21 Camera interfaces To query a parameter value, just send the corresponding command letter followed by the equality sign and a question mark character: >s=?[CR] If the intended action does not need any parameter it is also sufficient in most cases – as a shortcut – to send the command letter only, directly followed by [CR]. At the beginning of a command sequence it is good practice to check the serial communication by sending just a [CR] to the camera and verify that the command prompt > is returned. Note There is an input buffer holding a few characters but no hardware handshake. Thus a sequence of commands should not be sent to the camera without awaiting the intermediate input prompts. This is especially important for serial command processing through user-developed software routines. Otherwise the camera’s serial input buffer may overflow. Bonito Technical Manual V2.2.1 22 Camera interfaces Camera I/O connector pin assignment (15-pin D-Sub jack) This connector is intended for supplying power as well as external input/output signals. Pin Signal Direction Level 1 2 3 4 +12 V DC (+5%, –10%), 0.35 A (4.2 W), max. 0.36 A External Power Description Power supply 5 (GND) External GND 5 Reserve 6 Sync Out RS232 7 RXD In RS232 8 TXD Out RS232 Serial control 9 Reserve 10 - 11 Trigger input + Optocoupler input, 5 ... 12 V, 15 mA max. External trigger signal 12 Exposure output 13 RS232 9-pin D-SUB + Synchronization signal 3 (TXD) 2 (RXD) Optocoupler Active exposure output, signal open collector, 30 V, 150 mW max. 14 Reserve 15 Reserve Figure 11: Camera I/O connector pin assignment Power supply (pin 1-4) The camera requires 12 V DC (+5%, -10%) at a continuous maximum of 0.4 A. We recommend to use respectively both pins for power supply (1–2 and 3–4). Bonito Technical Manual V2.2.1 23 Camera interfaces Synchronization output (pin 6) Note Only cameras with firmware CMC.040.01.07 or newer support this feature. If you use a camera with an older firmware version: don‘t connect pin 6. Use this signal for the following: • Synchronize external devices to the effective exposure of Bonito. Examples of external devices: flash lights or timer circuits. • Reduce the timing jitter of start and end point of exposure. Several modes are available: for more information see Chapter Synchronization output (J) on page 39 The output is a RS232 compatible driver, signaling at +/- 6 V levels typically. The output delivers a reliable, low-jitter transmission, even over relatively long cable runs. The driver adds a delay of 0.75 μs typically at rising or falling edge. Caution Do not directly connect this output to a TTL or CMOS logic input. Input may be destroyed, because output delivers several 10 mA at voltage levels - 6 V ... +6 V. These voltages may exceed the absolute limits of the input. RS232 in 220R TTL out 680R Figure 12: Example conversion circuit from +/- 6 V RS232 output to 5 V TTL input Serial interface (pin 7-8) By use of the serial interface at pin 7 and 8 the camera can be controlled externally via an RS232 COM Port. A simple terminal program (e.g. HyperTerminal) is sufficient for manually controlling the camera. Please note that operating this serial interface and the available port(s) via Camera Link concurrently may lead to unexpected results. Both interfaces share the same receive buffer and thus the characters of simultaneously sent commands may be randomly mixed up. For more information on general command syntax: see Chapter Serial I/O on page 20. Bonito Technical Manual V2.2.1 24 Camera interfaces Trigger input (pin 10-11) Figure 13: Trigger input diagram The current through the optocoupler’s LED should be in the range of 5 mA to 15 mA. This is the case if 5.0 V ≤ Vin ≤ 12 V. Note If you use higher voltages, you have to connect externally an additional current limiting resistor. A rising edge at this optocoupler input starts the exposure. It depends on the trigger input selection T and the current trigger mode M whether this input is enabled and how it controls the exposure time. The optocoupler adds a typical delay of about 0.1 μs to the externally applied signal. For more information on the various trigger and exposure modes: see Chapter Exposure control mode (M) on page 40. Exposure output (pin 12-13) Figure 14: Exposure output Bonito Technical Manual V2.2.1 25 Camera interfaces This is an open collector optocoupler output. The transistor is conductive during the active exposure time of the image sensor. The power dissipation through the optocoupler’s transistor must not exceed 150 mW. A typical value for the external pull-up resistor is R = 4700 . This ensures riskfree operation to the upper Vcc limit Note The optocoupler adds an intrinsic delay to the signal. Note This output is not recommended for new system designs. Use the synchronization output feature instead: see Chapter Synchronization output (pin 6) on page 24. The start of exposure edge (falling edge at Vout) is delayed for about 3 μs typically, the end of exposure edge for about 20 – 50 μs. Latter is mainly caused by the storage time of the photo transistor and is strongly depending on the external pull-up resistor value R. To let safely toggle the output between high and low state please use exposure times above 10 μs and also observe a gap of 50 μs or more between two exposures. Faster rates may also work, but should be tested individually. Consequently, in the default continuous mode (M=0) the output does not toggle because the inter-exposure gap is too short. Active exposure is also displayed by the L3 indicator at the camera’s back side. Reserve I/O (pin 5, 9 and 14-15) Note The pins 5, 9, 14 and 15 are reserved for future use. Do not connect. Currently they have no function, but this may change. Bonito Technical Manual V2.2.1 26 Camera Link interface (O1-O4 or CL1, CL2) Camera Link interface (O1-O4 or CL1, CL2) Camera Link is an interface for the transmission of digital video data. The standard defines data transfer on a physical base and determines connectors, cables and components for transmission and reception. Three different configurations (base, medium and full) are available, distinguished by the number of transmitter–receiver pairs (one, two or three respectively). While the base configuration is able to operate with one cable, for the medium and the full configuration two cables between camera and grabber are necessary. Each transmitter–receiver channel implements the so called Channel Link technology. One Channel Link transmitter serializes 28 parallel data bits in a ratio of 7:1 and transfers them via five differential signal pairs (four data pairs plus one for the clock). By using the LVDS (Low Voltage Differential Signaling) standard, net parallel clock rates up to 85 MHz (up to 595 Mbit/s on the wire pairs) can be achieved. The Camera Link standard also defines further non-serialized signals. There are four direct camera control lines (CC1 – CC4) from frame grabber to the camera, as well as a bi-directional asynchronous serial communication channel, all of them transmitted using the LVDS standard. Due to the high bandwidth requirements the Bonito makes use of an extension to the Camera Link Full standard. Camera Link Full defines 8 ports with 8 bits each. Thus it has a payload of 64 bits which – including synchronization signals – only occupy 76 of the 3 x 28 = 84 available transmitter bits. By incorporating the unused bits and some redundant synchronization signals, it is possible to transmit 10 x 8 = 80 bits net. This is also known as Camera Link 10-tap standard with 80 bits. One Camera Link 80-bit channel provides enough bandwidth to achieve nearly 200 frames per second at four megapixels per frame. To reach the 400 frames per second the Bonito uses two Camera Link 80-bit channels in parallel. Camera link connectors and 10-tap pin assignment The Bonito implements two Camera Link 80-bit channels in 10-tap configuration grouped at the connector pairs O2/O1 and O4/O3 respectively. The Bonito CL-400B/C 200fps cameras implement only one Camera Link 80-bit channel at the connector pair CL1/CL2. Bonito Technical Manual V2.2.1 27 Camera Link interface (O1-O4 or CL1, CL2) Each channel delivers ten Camera Link ports labelled A–J. Every port has eight bits and is assigned to a corresponding sensor tap which outputs specific pixel columns of the image. Consequently, up to 2 x 10 = 20 simultaneous pixels are transferred to the frame grabber(s) in parallel per Camera Link clock cycle. The following illustrations depict the bit and wire assignments at the Camera Link connectors: Figure 15: Camera link connector: 10-tap pin assignment (O2/O4 or CL1 connector) Bonito Technical Manual V2.2.1 28 Camera Link interface (O1-O4 or CL1, CL2) Figure 16: Camera link connector: 10-tap pin assignment (O1/O3 or CL2 connector) Bonito Technical Manual V2.2.1 29 Camera Link interface (O1-O4 or CL1, CL2) Serial interface (SerTC, SerTFG) The Camera Link connectors O2 and O4 (Bonito CL-400B/C 200fps: connector CL1 only) each provide the asynchronous serial control lines SerTC and SerTFG. This is the preferred communication channel to control the various camera functions. Both Camera Link serial interfaces (and also the third RS-232 interface at the 15-pin D-SUB connector) are virtually equal. They all use one global baud rate setting. They also share the same receive buffer. Output characters (including echo) are always sent to all activated serial ports. Thus the ports are not intended for concurrent activity, although it might be possible under particular circumstances. However, the serial ports at O2 and O4 (or at CL1) may be deactivated. Note The Bonito CL-400B/C 200fps cameras provide only one Camera Link channel. Thus the serial interface via Camera Link is only available at the CL1 connector. Note • • For more information on serial interface configuration: see Chapter Baud rate (s) on page 53. Consult the documentation of the frame grabber for more information on how to operate its integrated serial ports. Trigger inputs (CC1) The two Camera Link connectors O2 and O4 (or connector CL1) each provide a camera control signal CC1. A rising edge at either input may start an exposure. But it depends on the trigger input selection T and the current trigger mode M which of the both CC1 inputs is enabled and how it controls the exposure time. Note Note The Bonito CL-400B/C 200fps cameras provide only one Camera Link channel. Thus the serial interface via Camera Link is only available at the CL1 connector. For more information on the various trigger and exposure modes: see Chapter Exposure control mode (M) on page 40. Bonito Technical Manual V2.2.1 30 Camera Link interface (O1-O4 or CL1, CL2) Reserve control input (CC2) The camera control signals CC2 at the Camera Link connectors O2 and O4 (or connector CL1) are reserved for future use. Pixel order Each frame in single channel mode (S=0, max. 193 full frames per second) is transmitted from top left to bottom right, line per line. The diagram below shows how the image is reconstructed from the ten Camera Link taps A – J. Because every tap directly corresponds to a Camera Link port, the port labels are reused as tap labels here. Each Camera Link clock cycle transmits one block of ten pixels. Please note that the number of lines may vary depending on the value of parameter N. Figure 17: Pixel order: full frame Bonito Technical Manual V2.2.1 31 Camera Link interface (O1-O4 or CL1, CL2) In the high speed dual channel modes (S=1 or S=3, max. 386 full frames per second) the image is split up vertically into two equal sized halves. Each half uses its own Camera Link channel and the pixel data travels over the corresponding connector pair. Note This mode is not available for the Bonito CL-400B/C 200fps cameras. From the host’s point of view the Bonito basically behaves like two cameras with half of the possible image width. Thus the host computer receives two images at the same time which are reconstructed in the order shown below. It is the duty of the system designer to allow for assembly of the two halves if the application demands it. Figure 18: Pixel order: half frame Bonito Technical Manual V2.2.1 32 Camera Link interface (O1-O4 or CL1, CL2) Timing (FVAL, LVAL, PCLK) The Camera Link pixel clock frequency of the Bonito is 80 MHz. The 10-tap configuration transfers 10 pixels per clock cycle at once (or 20 per clock cycle in the dual-channel mode). The synchronisation signals LVAL and FVAL are used to designate valid data output. Following charts illustrate the timing in continuous mode (M=0). Please note that the frame gap may vary in other trigger modes. Additionally the number of active lines per frame can be configured by the user (parameter N). Camera Link timing for single channel mode (S=0): Figure 19: Timing single channel Bonito Technical Manual V2.2.1 33 Camera Link interface (O1-O4 or CL1, CL2) Camera Link timing for dual channel mode (full line length, S=1, not for Bonito CL-400B/C 200fps): Figure 20: Timing dual channel, full line length Camera Link timing for dual channel mode (compatibility mode with reduced line length, S=3, not for Bonito CL-400B/C 200fps): Figure 21: Timing dual channel, reduced line length Bonito Technical Manual V2.2.1 34 Parameters and Commands Parameters and Commands This section explains the basic Bonito configuration parameters and general commands available to the user. Parameters and commands are communicated using the camera’s serial interface. Note For more information see Chapter Serial I/O on page 20. Primary starting address (A) The parameter A defines which line of the image sensor is the first line of the output image. The sensor’s first (topmost) line has the address A=0, the last line has the address A=6BD. The value of A in conjunction with N and I is used to create a region of interest (ROI1). By default it is set to A=0. Following sketch illustrates the various ROI parameters from the sensor’s point of view: Figure 22: ROI parameters Bonito Technical Manual V2.2.1 35 Parameters and Commands Secondary starting address (B) Note For more information on double ROI mode see Chapter Double region of interest mode (D) on page 37. If the double ROI mode is active, B defines which line of the image sensor is the first line of the second half of the output image. The sensor’s first (topmost) line has the address B=0, the last line has the address B=6BD. The value of B in conjunction with N and I is used to create the secondary region of interest (ROI2). Note Each image sensor line can only be read once per exposure. Thus two ROIs are only possible as long as they do not share the same line addresses. Fixed Pattern Noise (FPN) Correction (C) The Bonito camera provides an FPN correction to improve image quality. Correction data has to be recorded under low-light conditions. For best correction quality new correction data should be acquired from time to time. To acquire new FPN correction data follow this sequence: • Try to eliminate bright light sources, e.g. switch them off if possible. For best correction quality, close the iris or use a lens cover. • Ensure that the camera continuously outputs images at a constant frame rate, e.g. using the continuous mode: >M=0[CR] • > Send the following serial command to record and apply new correction data. The camera answers with a new prompt sign if the command has successfully completed. The execution lasts for the duration of some images. >C=1[CR] > Note The correction data is volatile. So this command should be executed at least once after switching-on for best performance. Bonito Technical Manual V2.2.1 36 Parameters and Commands Double region of interest mode (D) In double ROI mode (D=1) the camera outputs two equally sized regions of interest. Both ROIs share the parameters N and I and are output as two halves of one image. The top half contains the lines of the primary ROI (ROI1), the bottom half the lines of the secondary ROI (ROI2) accordingly. The starting line address for ROI1 is configured using the parameter A. Parameter B controls the starting line address of ROI2. Each ROI has the height of (N + 1) lines, thus the resulting image has (N + 1) * 2 lines. Exposure time (E) The exposure time is a 32-bit value. Its time resolution depends on the prescaler value K and is 3 μs by default. See Chapter Timer prescaler value (K) on page 39. Technically the value range is 32 bit, whereas the useful exposure times should be up to ~ 1 second. Note The exposure time control using this value is only active if the trigger mode is set to M=2 or M=3. Frame duration (F) The frame duration is a 32-bit value. Its time resolution depends on the prescaler value K and is 3 μs by default. Note The frame duration control using this value is only active if the trigger mode M is set accordingly. See Chapter Exposure control mode (M) on page 40. Bonito Technical Manual V2.2.1 37 Parameters and Commands Digital gain (G) The digital gain setting controls the shifting of the pixel bits. It selects, which eight of the ten digitizer bits are output to Camera Link. Overflow is represented by saturation to maximum. Setting Gain G=0 1x G=1 2x G=2 4x Table 5: Digital gain setting Line address increment (I) The line address increment value I is added to the current address at the end of each line read out from the sensor. Setting values 1 skip lines accordingly. In conjunction with a reduced N this is useful to gain higher frame rates without diminishing the field of view (also known as sub-sampling). Valid values range from I=1 to I=FF. The default is I=1. Bonito Technical Manual V2.2.1 38 Parameters and Commands Synchronization output (J) Use parameter J to configure output on pin 6 of the camera control connector. Setting Output signal J=0 Effective sensor exposure J=1 Charge transfer pulse Active for one line duration at the end of exposure. End of this pulse marks the end of exposure and at the same time start of sensor readout. In PIV mode: this pulse occurs at the exposure end of only the first image of each PIV pair. For more information see Chapter Exposure control mode (M) on page 40. J=2 Effective sensor readout J=3 Exposure phase Contrary to J=0 this setting shows the exposure phase of the internal state machine and not the effective exposure of the sensor. This allows to synchronize external devices even if the sensor is in permanent exposure mode. For more details see Chapter Exposure control mode (M) on page 40. J=8 Same as J=0, but with inverted logic on sync output J=9 Same as J=1, but with inverted logic on sync output J=A Same as J=2, but with inverted logic on sync output J=B Same as J=3, but with inverted logic on sync output Table 6: Synchronization output Timer prescaler value (K) A basic timer clock frequency of 56 MHz is divided by the prescaler value (K + 1) to generate the time base for exposure time E and frame duration F. This parameter is 16-bit wide. Valid values range from K=1 to K=FFFF. An assignment of K=37 (decimal: 55) leads to a timer resolution of (55 + 1) / 56 MHz = 1 μs, for example. Default is K=A7, which equals 3 μs. Note Use exact multiples of the current line duration to minimize exposure and frame-to-frame jitter. Bonito Technical Manual V2.2.1 39 Parameters and Commands Exposure control mode (M) There are various modes available to control the exposure time and frame duration of the Bonito CL-400B/C. The exposure control is depending on some general timing parameters which are specified in the following table: Parameter Value Line Duration (S=0) tL = 3 μs Line Duration (S=1) tL = 1.5 μs Line Duration (S=3) tL = 1.5 μs Frame Output Time (D=0) tF = (N + 1) * tL Frame Output Time (D=1) tF = 2 * (N + 1) * tL Minimum Frame Duration tFDmin = tF + tL Timer Resolution tTR = (K + 1) / 56 MHz Table 7: Exposure control parameters Use parameter M to setup the exposure control mode. The bits of the parameter value are divided into three different sized bit groups e, p and f. Each bit group has a special function being independent of the other ones: Bit group Description e Exposure timing mode p PIV mode f Exposure feature mode Table 8: Exposure control mode: bit groups 7 6 5 4 3 2 1 0 - - f f - p e e rw rw rw rw rw Table 9: Exposure control mode: bit field order Bonito Technical Manual V2.2.1 40 Parameters and Commands Bit group Value Function e 0 Continuous mode The camera outputs images as fast as possible in a free running mode. The gap between two images is only one line, thus the total frame duration takes tFDmin. The exposure time is nearly equal to this inherent minimal frame duration. e 1 Image on demand mode (IOD) The exposure is directly controlled by an externally applied signal. Use parameter T to select the signal source. A rising edge at the corresponding input starts exposure synchronized to the line after the next. If the rising edge occurs during idle (the camera is not transmitting an image), the exposure starts with a constant delay of two line durations. The following falling edge stops exposure and starts output of the image synchronized to the next line. Due to the line jitter the next exposure should not start earlier than tFDmin + tL after the previous start of exposure. Parameter Value Trigger Period tTP > tFDmin + tL Trigger High Duration tL < tTH < tTP – tL Exposure Jitter 0 < t j < tL Exposure Time tExp = tTH ± tj Table 10: M=1 parameters Table 13: Exposure control modes: Exposure timing mode (bit group: e) Bonito Technical Manual V2.2.1 41 Parameters and Commands Bit group Value Function e 2 Image on demand mode (IOD) with exposure timer The exposure time is controlled by the parameter E. Each rising edge of an externally applied signal starts one exposure. Use parameter T to select the signal source. A rising edge at the corresponding input starts exposure synchronized to the line after the next. If the rising edge occurs during idle (the camera is not transmitting an image), the exposure starts with a constant delay of two line durations. The next rising edge must not arrive earlier than tFDmin + tL after the previous one. Parameter Value Trigger Period tTP > max (tFDmin , E * tTR ) + tL Trigger High Duration tL < tTH < tTP – tL Exposure Jitter 0 < t j < tL Exposure Time tExp = E * tTR ± tj Table 11: M=2 parameters Table 13: Exposure control modes: Exposure timing mode (bit group: e) Bonito Technical Manual V2.2.1 42 Parameters and Commands Bit group Value Function e 3 Image on demand mode (IOD) with exposure timer and frame duration timer This mode is also free-running (like M=0), but exposure time and frame duration is set using the parameters E and F accordingly. Furthermore the start of the exposure may optionally be synchronized to the rising edge of an externally applied synchronization pulse. Use parameter T to select the synchronization signal source. In case of synchronization event during exposure the current frame may be exposed abnormally. Parameter Value Trigger High Duration tL < tTH < F * tTR – tL (Sync Pulse) Exposure Jitter 0 < tj < tL Exposure Time tExp = E * tTR ± tj Frame Duration F * tTR ≥ max (tFDmin + tL , E * tTR + tL ) Table 12: M=3 parameters Table 13: Exposure control modes: Exposure timing mode (bit group: e) Bonito Technical Manual V2.2.1 43 Parameters and Commands Bit group Value Function p 0 PIV mode = Off p 1 PIV mode = On PIV means Particle Image Velocimetry. Exposure control is not available in this mode. The exposure is permanently active. Thus a synchronized strobe light source and eliminating other light sources is mandatory. The frame rate is controlled as usual using parameter F or external trigger, but note that the camera outputs two images per trigger event. The strobe light has to be synchronized to the image output of the camera. This can e.g. be done by an external timing generator which generates a pair of flash pulses positioned close to each trigger pulse to the camera. The exposure of the first image ends one line duration (tL) after the rising edge of the incoming trigger signal. Thus the first light pulse should end a few 100 ns before tL and the second light pulse should start a few 100 ns after tL . The ideal position and length of this dark guard interval depends on the allowable crosstalk of the application and should be tested individually. If not in continuous mode the time between two rising trigger edges must exceed 1+2*((N+1)+1) line durations. The trigger high duration should be less than N+1 line durations, but at least 500 ns. Alternatively the synchronization of light sources can be implemented by using the corresponding output signal of the camera. For information on synchronization output see J in Chapter Synchronization output (J) on page 39. Table 14: Exposure control modes: Exposure timing mode (bit group: p) Bonito Technical Manual V2.2.1 44 Parameters and Commands Bit group Value Function f 0 Standard mode f 1 Enhanced full well (3T) mode The full frame shutter is not available in this mode. Instead, the sensor operates in rolling shutter mode with an effective shutter time equaling the frame duration. Thus a synchronized strobe light is recommended. Consequently any exposure time setting, controlled by Parameter E or by external signal, is ignored. The light should flash between two image readout operations, which may be the duration of one line at highest possible frame rate. Decrease the frame rate accordingly, if longer exposure times are needed. Use the sync output (RS232 driver at pin 6) for synchronization, if needed. f 2 Permanent exposure mode Use this mode to maximize the exposure time. If activated, the exposure time equals the frame duration. Consequently any exposure time setting, controlled by parameter E or by external signal, is ignored. f 3 Reserved Table 15: Exposure control modes: Exposure timing mode (bit group: f) Bonito Technical Manual V2.2.1 45 Parameters and Commands Number of lines (N) The number of lines per frame is controlled with N. The actual line count is N+1, thus the default of N=6BD results into 1726 output lines. Valid values range from N=0 to N=6BD. If the double ROI mode is active (D=1) the actual line count is doubled: (N + 1) * 2. Note • • • Consider this in minimum frame duration calculations for the image on demand (IOD) mode. For more information about calculation of the minimum frame duration and dependent IOD mode timing constraints, see Chapter Exposure control mode (M) on page 40. See also the other ROI parameters A, B, D and I. Timing examples for parameter settings M=0, S=0 [tL = 3 μs], D=0: Setting No. of lines Minimum frame duration tFDmin Frame rate/fps N=6BD 1726 5.181 ms 193.01 N=681 1666 5.001 ms 199.96 N=14B 332 0.999 ms 1001.0 N=1F 32 0.099 ms 10101 N=0 1 0.006 ms 166667 Table 16: Timing examples (M=0, S=0, D=0) Timing examples for parameter settings M=0, S=1 [tL = 1.5 μs], D=0 (not for Bonito CL-400B/C 200fps cameras): Setting No. of lines Minimum frame duration tFDmin Frame rate/fps N=6BD 1726 2.5905 ms 386.03 N=681 1666 2.5005 ms 399.92 N=14B 332 0.4995 ms 2002.0 N=1F 32 0.0495 ms 20202 N=0 1 0.0030 ms 333333 Table 17: Timing examples (M=0, S=0, D=0) Bonito Technical Manual V2.2.1 46 Parameters and Commands Camera Link output mode setting (S) The parameter S controls how the camera outputs pixel data to the Camera Link interface. • For more information about how the resulting image is reconstructed in the various modes, see Chapter Pixel order on page 31. • For more information about pixel output timing, see Chapter Timing (FVAL, LVAL, PCLK) on page 33. Setting Function S=0 Default: Single channel mode (193 frames per second with line length of 2320 pixels) The camera utilizes one Camera Link 80-bit channel in 10-tap configuration. It allows only half of the maximum frame rate but also produces less noise in the image because the sensor clock frequency is reduced. The preferred Camera Link connector pair for this mode is the left channel O2 / O1, but the other pair (O4 / O3) also outputs all pixel data. Please note that the CC signals and SerTC / SerTFG are handled separately per channel. Thus e. g. the trigger source selection (T) and serial port configuration (s) might need adjustments if O4 / O3 are used. The Bonito CL-400B/C 200fps provides only one channel at the connectors CL1/CL2. S=1 Dual channel mode (not for Bonito CL-400B/C 200fps) (386 frames per second with line length of 2 x 1160 = 2320 pixels) The image is split vertically into a left and a right half. Thus each half has a horizontal size of 1160 pixels and is output separately via its own Camera Link 80-bit channel. The left half travels via the left Camera Link channel at the connectors O2 / O1 and the right half travels via O4 /O3 respectively. S=3 Dual channel mode (not for Bonito CL-400B/C 200fps) (386 frames per second with line length of 2 x 1120 = 2240 pixels) This mode basically is the same as S=1. For frame grabber compatibility reasons some pixel columns at the left and right side (of the full image) are dropped so that the line length of each half image is divisible by 16. S=5 Same as mode 1, but with right image half via O2/O1 and left image half via O4/O3 (if available). Table 18: Output mode setting (S) Bonito Technical Manual V2.2.1 47 Parameters and Commands Setting Function S=7 Same as mode 3, but with right image half via O2/O1 and left image half via O4/O3 (if available). Others Reserved for future use. Table 18: Output mode setting (S) Trigger source selection (T) This parameter selects the signal source for triggering and exposure control. For more information about usage of the selected signals: see Chapter Exposure control mode (M) on page 40. Setting Function T=0 No input selected. T=2 Optocoupler OK1 at pins 10 and 11 of the control connector. Note This input adds additional delay to the signal. For more information: see Chapter Trigger input (pin 10-11) on page 25. T=3 CC1 at the Camera Link connector O2 or CL1 (default). T=4 CC1 at the Camera Link connector O4. Others Reserved for future use. Table 19: Trigger source selection (T) Metadata overlay and test image generator (U) The Bonito can overlay the image’s first pixels with some bytes of metadata, such as a hardware frame counter. The frame counter increments for each image read out from the sensor. This helps to increase system reliability by detecting missing frames on the host system. In dual channel mode (S=1 or S=3) it can also be used to join the two related image halves because they have the same counter value. Furthermore, to test the Camera Link cabling and frame grabber operability, a test image generator is available. It forces the camera to output an almost fixed test image containing grey wedges, black and white stripes with various frequencies and edge markers. Bonito Technical Manual V2.2.1 48 Parameters and Commands Note • • The effective image size and also the frame rate depend on the corresponding camera settings such as e.g. D, N or M. Edge markers are only fully visible if all 1726 active lines are output. The digital gain setting G also applies to the test image, but the FPN correction C is temporary disabled. Setting Function U=0 Normal image output. U=1 Enable metadata overlay The overlay occupies the first (top left) 8 pixels of each frame. Metadata format for the left Camera Link channel (connectors O2/O1 or CL1/CL2): • • Pixel offset 0–3 (4 bytes): constant ASCII characters CM4L Pixel offset 4–7 (4 bytes): 32-bit frame counter, LSB first (Intel format) Metadata format for the right Camera Link channel (connectors O4/O3): • • Pixel offset 0–3 (4 bytes): constant ASCII characters CM4R Pixel offset 4–7 (4 bytes): 32-bit frame counter, LSB first (Intel format) U=10 Enable test image generator. Full test image appears with N=6BD, I=1, G=0 and D=0. U=11 Enable metadata overlay and test image generator. Others Reserved for future use Table 20: Trigger source selection (T) Dark value offset (W) This value is an 8-bit parameter which is added to the pixel data. This parameter adjusts the dark level and avoids clipping of pixels to black in low light situations. The eight bits are aligned to the lowest significant bit of the 10-bit raw pixel data from the sensor. Thus if the digital gain is not active (G=0), each increment of four increases the output grey level just for one count. Bonito Technical Manual V2.2.1 49 Parameters and Commands Version information (V) The command V displays information about the camera model and firmware version. >V Bonito CMOS High-Speed Camera Version: CMC.040.xx.yy > Save parameters (X) Use the command X=1 to store all parameter values into the embedded flash memory. After a re-start they are automatically restored. Note Acquired FPN correction data is not stored and is therefore lost after switch-off. See Chapter Fixed Pattern Noise (FPN) Correction (C) on page 36. Parameter summary (Y) The command Y shows a summary of all current parameter value settings. Bonito Technical Manual V2.2.1 50 Parameters and Commands Reset to factory defaults (Z) The command Z=1 sets the camera into a factory default state. To save the new parameter configuration, the command X=1 has to be executed afterwards. The default settings are: A=0000 B=0000 C=00 D=00 E=000006BE F=000006BF G=00 I=01 J=01 K=A7 M=00 N=06BD S=00 T=03 U=00 W=18 s=2A > Note The serial interfaces are not reinitialized by Z=1. Thus the baud rate does not change until re-start of the camera or explicitly writing a new value to the serial interface configuration parameter s. Serial number (a) The camera’s serial number is stored as 16-bit value. Use the command a to read it. Bonito Technical Manual V2.2.1 51 Parameters and Commands Product variant code (b) The product variant code is a 16-bit number unambiguously identifying the camera variant. Use command b to read it. b Article number Camera Variant 0000 1064000 CMC-4000 / C-Mount 0001 1064001 CMC-4000 / F-Mount 0002 1064002 CMC-4000 / EF-Mount 0010 1064010 CMC-4000C / C-Mount 0011 1064011 CMC-4000C / F-Mount 0012 1064012 CMC-4000C / EF-Mount 4000 4064000 Bonito CL-400B 4001 4064001 Bonito CL-400B F-Mount 4002 4064002 Bonito CL-400B EF-Mount 4010 4064010 Bonito CL-400C 4011 4064011 Bonito CL-400C F-Mount 4012 4064012 Bonito CL-400C EF-Mount 4020 4064020 Bonito CL-400B 200fps 4021 4064021 Bonito CL-400B F-Mount 200fps 4022 4064022 Bonito CL-400B EF-Mount 200fps 4030 4064030 Bonito CL-400C 200fps 4031 4064031 Bonito CL-400C F-Mount 200fps 4032 4064032 Bonito CL-400C EF-Mount 200fps FFFF - Unknown / test / prototype Table 21: Product variant code (b) Bonito Technical Manual V2.2.1 52 Parameters and Commands Baud rate (s) The Baud Rate of the serial interface is setup using parameter s. The bits of the parameter value are divided into three different sized bit groups a, e and x. Each bit group has a special function being independent of the other ones: Bit group Description a Controls the enable state of the serial ports. e Controls the echo mode. x Controls the baud rate of the serial port. Table 22: Baud rate: bit groups F E D C B A 9 8 7 6 5 4 3 2 1 0 - - - - - e a a - x x x x - - - rw rw rw rw rw rw rw Table 23: Baud rate Baud Rate (default setting 2A) Bit group Value Explanation x 0 110 Baud* 1 300 Baud* 2 600 Baud* 3 1200 Baud* 4 2400 Baud* 5 4800 Baud* 6 9600 Baud 7 19200 Baud 8 38400 Baud 9 57600 Baud A 115200 Baud Table 24: Baud rates: Bit groups and values Bonito Technical Manual V2.2.1 53 Parameters and Commands Baud Rate (default setting 2A) a e 00 RS232 via 15-pin D-SUB control connector only. 01 Additionally activates second channel via Camera Link connector O2. 10 Additionally activates second channel via Camera Link connector O4. 11 Additionally activates second channel via Camera Link connector O2 and O4. 0 Each character received from the host is echoed back to it. 1 No echo Table 24: Baud rates: Bit groups and values * These baud rates are not available via Camera Link. Example 1 Factory default: s=2A means: 115200 Baud, Each character received is echoed back, Additionally activates second channel via Camera Link connector 02. Example 2 s=004A means: 115 200 Baud, RS232 via 15-pin D_SUB, no echo Show Help text (?) The command ? shows an embedded command reference text at the serial terminal. It lists a short description for each command available in the firmware. Bonito Technical Manual V2.2.1 54 Bayer filter mosaic pattern Bayer filter mosaic pattern The color variants of the Bonito are equipped with a Bayer filter mosaic on the image sensor, which is aligned to the top left corner of the sensor like shown in the following pattern: G R G R ... B G B G ... G R G R ... B G B G ... ... ... ... ... ... Changing the output mode (parameter S) does not affect the pattern alignment in the output image. On the other hand modifying the ROI settings (A, B, D, I, N) may lead to misalignments. Please observe the consistent mapping of even and odd sensor rows to even and odd rows in the output image when changing the ROI settings. Bonito Technical Manual V2.2.1 55 Appendix Appendix Command reference This chapter describes the general command reference of the Bonito CL-400B/C firmware. It can be output to the camera’s serial interface by sending the command ?=1. Bonito CL-400 and CMC-4000 Series Command Reference =============================================================================== Referenced Firmware...: CMC.040.01.07 Document Version......: 06 / 02.02.2012 (C) Allied Vision Technologies GmbH General Information ------------------Each command consists of a command letter, optionally followed by an equality sign and a parameter value in hexadecimal number representation. The command letter is case sensitive. Hexadecimal values are always upper case and are 1 to 8 digits long. The command is activated by sending a carriage return character ([CR], ASCII character number 0x0D). Serial communication operates in echo mode by default. This means that each character received by the module is echoed back to the PC. Example (set Baudrate to 115200 Baud, RS-232 only): s=A[CR] After successful execution of the command, the command prompt character ">" is output. If any error occurred, somewhere previous to the prompt a question mark character "?" is displayed. To query a parameter value, send the corresponding command letter followed by the equality sign and a question mark character: s=?[CR] If the intended action does not need any parameter, it is also sufficient - as a shortcut - to send the command letter only, directly followed by [CR]. At the beginning of a command sequence it is good practice to check the serial communication by sending just a [CR] to the camera and verify that the command prompt ">" is returned. There is an input buffer holding a few characters but no hardware handshake. Thus a sequence of commands should not be send to the camera without awaiting the intermediate input prompts. Otherwise the camera’s serial input buffer may overflow. How to use Help --------------To see this help text type the following command: ?[CR] Bonito Technical Manual V2.2.1 56 Appendix Conventions ----------<p8> <p16> <p32> <aa**_bcbb> (*) : : : : 8 bits long parameter value (1 to 2 Hex characters) 16 bits long parameter value (1 to 4 Hex characters) 32 bits long parameter value (1 to 8 Hex characters) 8 bits long parameter (resulting in two hex chars) consisting of bit fields. The function of each bit field is described, like this: "aa" : Lower case letters label the bits of interest. "**" : Reserved, should be written as "0", read undefined. "_" : Separation character for readability. "bcbb" : Bit fields may have any length and can be split up. : Some commands are only accessible in a special password protected service mode. Command and Parameter Overview - Service Mode --------------------------------------------a=<p16> : Set the serial number A and save it to flash. In user mode read access to this value is available. (*) b=<p16> : Set the product variant code and save it to flash. In user mode read access to this value is available. (*) c=<p8> : Configure the FPGA with data from the specified file number. (*) d=<p8> : Delete the file with the specified file number. (*) e=<p8> : Erase the flash. (*) e=0 : Erase used blocks only. e=FF : Erase all blocks. Other Values: Reserved / undefined. f=<p16> : Write a data byte to an FPGA register. (*) High Byte : Data value to write, 0 if omitted. Low Byte : Address of the register. g=<p16> : Read data bytes from FPGA registers at specified address. (*) High Byte : Number of sequential bytes to read. Set the most significant bit in order to reverse the byte output order. If high byte is omitted, a default count value of 1 is assumed. Low Byte : Base address to read from. On forward byte order the address is incremented until it reaches [base]+[count]-1. On reverse byte order the output starts at [base]+[count]-1 and is decremented down to [base]. l=1 : List contents of the flash file directory. (*) v=<p8> : View contents of the specified file. (*) Bonito Technical Manual V2.2.1 57 Appendix z=1 : Reload parameters from file. (*) O=<p8> : File number of the file containing the FPGA configuration data. (*) P=1 : Upload a new FPGA configuration file via the serial interface and store it in the flash memory. After issuing <CR> a special transfer protocol is processed. A currently existing file will be overwritten. (*) Q=<p8> : Upload a general file via the serial interface and store it in the flash memory using the specified file number. After issuing <CR> a special transfer protocol is processed. A currently existing file will be overwritten. (*) Command and Parameter Overview - User Mode (Lower Case) ------------------------------------------------------p=<p16> : Internal system parameter. Change this setting only if you know what you are doing! <ssss_ssss_cccc_cccc> \_______| \_______| | +---c: Camera Link clock phase. Modify | this byte value a few steps up or | down to optimize the phase of the | Camera Link clock. It may | eventually improve data | transmission reliability with | long cable runs in some cases. +-------------s: Internal system parameter. Do not change this byte at all. To modify the other bitfield "c" please first read all bits of p=<p16> from the camera, modify only the bits of "c" and write back the complete value including the "s"-bits unchanged. s=<p8> : Configure the UART(s) for serial communications. Changes are activated immediately. <eaa*_bbbb> |\| \__| | | +---b: Baud rate of the main RS-232 UART available | | at the 15-pin D-SUB connector and the second | | channel UART via Camera Link. The second | | channel UART supports 9600 to 115200 Baud | | only (x). Both channels share the same | | receive buffer and output characters are | | always sent to both. Thus the two channels | | are not intended for completely concurrent | | use. | | 0 -> 110 Baud. | | 1 -> 300 Baud. | | 2 -> 600 Baud. | | 3 -> 1200 Baud. | | 4 -> 2400 Baud. | | 5 -> 4800 Baud. | | 6 -> 9600 Baud. (x) Bonito Technical Manual V2.2.1 58 Appendix | | 7 -> 19200 Baud. (x) | | 8 -> 38400 Baud. (x) | | 9 -> 57600 Baud. (x) | | A -> 115200 Baud. (x) | +---------a: Second channel UART port selection. | 00 -> Second channel UART off. | 01 -> Activate second channel via Camera | Link connector O2 (or CL1). | 10 -> Activate second channel via Camera | Link connector O4 (if available). | 11 -> Activate second channel via Camera | Link connector O2 (or CL1) and O4. +-----------e: Echo suppression. 0 -> Each character received from the host is echoed back to it. 1 -> No echo. Command and Parameter Overview - User Mode (Upper Case) ------------------------------------------------------A=<p16> : Start value for line address counter A. It sets the line address of the image's first line read out from the image sensor. After processing each line the address is incremented by the amount specified by I=<p8>. See N=<p16> for number of lines per image. Valid range 0...6BF (decimal: 0...1727). B=<p16> : Start value for line address counter B. It sets the line address of the second ROI's first line read out from the image sensor. After processing each line the address is incremented by the amount specified by I=<p8>. See N=<p16> for number of lines per image. This parameter is only used in double ROI mode. Please see command D=<p8> for details. Range 0...6BF (decimal: 0...1727). C=<p8> : Mode and control of the fixed pattern noise (FPN) correction. Please note that correction data is volatile and has to explicitly be acquired at least once after switching on the camera. <****_**sm> || |+-m: Mode of fixed pattern noise correction. | 0: No correction is applied. | 1: Acquire new fixed pattern noise correction | data and apply it to the image. To | successfully complete the procedure ensure | continous image output by e.g. setting | M=0. For optimum quality please totally | darken the sensor during data acquisition. | Avoiding bright light sources might also | be sufficient, but a residual image may | occur. Please note that saving the | correction state with X=<p8> will activate | the correction at start of the camera | without correction data. This leads to an | uncorrected image until new correction | data has explicitly been reacquired. Bonito Technical Manual V2.2.1 59 Appendix +--s: Suppression of new data acquisition. This bit is write-only and reads always 0. Write C=3 to reactivate the fixed pattern noise correction from the state C=0 without the correction data being reacquired as C=1 would do. D=<p8> : Double ROI mode. Can be used to read out two independent areas of the same size into one output image. This is useful to gain speed due to dropping unneeded lines between two areas of interest. Also field separation for interlaced mode can be obtained. The top half of the output image consists of the lines A, A+I, A+2*I, ..., A+N*I and the bottom half consists of the lines B, B+I, B+2*I, ..., B+N*I. Thus the resulting image size is (N+1)*2. Please see parameters A=<p16>, B=<p16>, I=<p8> and N=<p16> for more details. 0: Single ROI mode. Image size is (N+1) lines. 1: Double ROI mode. Image size is (N+1)*2 lines. Parameter B=<p16> specifies the address of the first line of the second half. Please note that due to the increased image size (N+1)*2 also the minimum frame duration increases from (N+1) + 1 to (N+1)*2 + 1. E=<p32> : Exposure time. The time resolution depends on the prescale value K=<p16>. Please note that the exposure time is only active when the trigger mode M=<p8> is set accordingly. F=<p32> : Frame duration. The time resolution depends on the prescale value K=<p16>. Please note that the frame duration is only active when the trigger mode M=<p8> is set accordingly. G=<p8> : Digital gain. 0: Gain factor 1. 1: Gain factor 2. 2: Gain factor 4. I=<p8> : Increment value of the line address counters A and B. After processing each line this value is added to the current line address. Valid range 1...FF (decimal: 1...255). J=<p8> : Configuration of synchronization output at pin 6 of the control connector. This pin delivers RS232 voltage levels (+/- 6 volts) with a delay of less than 800 ns. The logic is negative, meaning +6 V = LOW and -6 V = HIGH. <****_n*ss> | \| | +-s: Signal source selection. | 0: Effective sensor exposure. | 1: Charge transfer pulse. Active for one line | duration at the end of exposure, end of | this pulse marks the end of exposure and | at the same time start of sensor readout. | In PIV mode (see M=<p8>) this pulse occurs | at the exposure end of only the first | image of each PIV pair. | 2: Effective sensor readout. | 3: Exposure phase. Contrary to 0 this setting | shows the "exposure phase" of the state | machine and not the effective exposure Bonito Technical Manual V2.2.1 60 Appendix | of the sensor. This allows to synchronize | external devices even if the sensor is in | permanent exposure mode. See M=<p8> for | details about permanent exposure. +----n: Invert the logic levels of the sync output. K=<p16> : Timer prescale value. The basic clock frequency of 56 MHz is divided by the prescale value (K+1) to generate the time base for exposure time E=<p32> and frame duration F=<p32>. A value of K=37 (decimal: 55) leads to a timer resolution of 1µs, for example. To minimize jitter effects it is recommended to set this value to a multiple of the current line duration, which is K=A7 for single channel mode (e. g. S=0) or K=53 for dual channel mode (e. g. S=3). M=<p8> : Exposure control. <**ff_*pee> \| |\| + | +-e: Exposure timing mode. | | 0: Continuous mode. The camera outputs images | | as fast as possible in a free running | | mode. The gap between two images is only | | one line, thus the total frame duration | | takes N+2 lines (or (N+1)*2 + 1, if double | | ROI mode is active). The exposure time is | | nearly equal to the frame duration. | | 1: Image on demand mode (IOD). The exposure | | is directly controlled by an externally | | applied signal. Use parameter T=<p8> to | | select the signal source. A rising edge at | | the corresponding input starts exposure | | synchronized to the line after the next. | | If the rising edge occurs during idle (the | | camera is not transmitting an image), then | | the jitter is reduced. In this case | | exposure will start with a constant delay | | of about two line durations. The following | | falling edge stops exposure in any case | | and starts output of the image | | synchronized to the next line. The next | | exposure must start later than | | (N+1)+1 line periods after the previous | | rising edge. To be safe consider one line | | jitter reserve, i.e. (N+1)+2. With D=1 | | setting replace the term (N+1) by (N+1)*2. | | 2: Image on demand mode (IOD) with exposure | | timer. The exposure time is controlled by | | the parameter E=<p32>. Each rising edge of | | an externally applied signal starts the | | exposure. Use | | parameter T=<p8> to select the signal | | source. The next rising edge must | | arrive later than (N+1)+1 line periods | | after the previous rising edge. To be safe | | consider one line jitter reserve, i.e. | | (N+1)+2. With D=1 setting replace the term | | (N+1) by (N+1)*2. | | 3: Image on demand mode (IOD) with exposure Bonito Technical Manual V2.2.1 61 Appendix | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | +---p: | | | | | | | | | | | | | | | | | | | | | | +------f: timer and frame duration timer. The exposure time is controlled by the parameter E=<p32>. The frame duration is controlled by the parameter F=<p32>. Start of the exposure can be synchronized to the rising edge of an externally applied signal. Use parameter T=<p8> to select the signal source. Frame duration F=<p32> must not be less than (N+1)+1 line periods after the previous rising edge. To be safe consider one line jitter reserve, i.e. (N+1)+2. In the special case of K=A7 a jitter reserve is not necessary, because timer resolution is exactly one line period. With D=1 setting replace the term (N+1) by (N+1)*2. Particle Image Velocimetry (PIV) mode. If enabled, the camera outputs two images per trigger event. If not in continuous mode the time between two rising edges must exceed 1+2*((N+1)+1) line durations. The trigger high duration should be less than N+1 line durations, but at least 500 ns. After a delay of one line duration plus 150 ... 250 ns (depending on the used trigger input type) from rising edge of the trigger input, the exposure of the first PIV image ends and its readout process begins. The exposure is permanently active in this mode, thus for a usual PIV application the first light strobe can also start _before_ the trigger input event. In any case it should end a few 100 ns before start of readout. After a guard interval of a few 100 ns ... 1000 ns the second light strobe may begin. The exact position and length of the guard interval depends on the allowable crosstalk for the application and should be tested individually. See J=<p8> for synchronization output. Exposure feature mode. 0: Standard mode. 1: Enhanced full well (3T) mode. The full frame shutter is not available in this mode. Instead, the sensor operates in rolling shutter mode with an effective shutter time equaling the frame duration. Thus a synchronized strobe light is recommended. Consequently any exposure time setting, controlled by E=<p32> or by external signal, is ignored. The light should flash between two image readout operations, which may be the duration of one line at highest possible frame rate. Decrease the frame rate accordingly, if longer exposure times are needed. Use exposure output (opto coupler at pins 12/13) or sync output (RS232 driver at pin 6) for synchronization. Bonito Technical Manual V2.2.1 62 Appendix 2: 3: Permanent exposure mode. Used to maximize the exposure time. If activated, the exposure time equals the frame duration. Consequently any exposure time setting, controlled by E=<p32> or by external signal, is ignored. Reserved. N=<p16> : This parameter sets the number of lines per frame. The actual line count is N+1, thus the default of N=6BD results into 1726 lines. If the double ROI mode is active (D=1) the actual line count is (N+1)*2. Please consider this in minimum frame duration calculations for the image on demand (IOD) mode (see M=<p8>). See also parameters A=<p16>, B=<p16>, D=<p8> and I=<p8> for more information regarding sensor line addressing. Valid range 0...6BF (1 to 1728 lines). S=<p8> : Sensor mode control. <****_*ccc> \_| +-c: Channel mode configuration. 0: Single channel mode (half pixel clock speed). Full line length of 2320 pixels is output at the Camera Link connectors O2/O1 (or CL1/CL2). The data is mirrored at O4/O3 (not available in all variants), but note that the CC signals and SerTC/SerTFG are handled separately. Thus e.g. the trigger source selection (T=<p8>) and serial port configuration (s=<p8>) might need adjustments if only the connectors O4/O3 are connected to a frame grabber. 1: Dual channel mode (full pixel clock speed). The image is split vertically into a left and a right half. Thus each half has a horizontal size of 1160 pixels and is output separately on its own Camera Link 10-tap channel. The left half travels via the left Camera Link channel at the connectors O2/O1 (or CL1/CL2) and the right half travels via O4/O3 (not available in all variants) respectively. 3: Dual channel compatibility mode (full pixel clock speed). This mode basically is the same as S=1. For frame grabber compatibility reasons 40 pixel columns at the left and right side (of the full image) are dropped so that the line length of each half image is divisible by 16. The effective line length in this mode is 2 x 1120 = 2240 pixels. 5: Same as mode 1, but with right image half via O2/O1 (or CL1/CL2) and left image half via O4/O3 (if available). 7: Same as mode 3, but with right image half via O2/O1 (or CL1/CL2) and left image half via O4/O3 (if available). Bonito Technical Manual V2.2.1 63 Appendix All other values are reserved. T=<p8> : Trigger source selection. 0: None. 2: OK1 at control connector. 3: CC1 at O2 connector (or CL1). 4: CC1 at O4 connector (if available). All other values are reserved. U=<p8> : Metadata overlay and test image. <***t_***m> | | | +-m: Metadata overlay mode. | 0: No overlay. | 1: Show metadata in each frame starting at | the first pixel of the first line. +------t: Test image generator. 0: Normal image output. 1: Test image generator is active. V=1 : Show model and firmware version information. Use V=2 for a more detailed output. W=<p8> : Dark value offset. This value is added to the pixel data. It is used to adjust the dark level and avoid clipping of pixels to black in low light situations. The eight bits are aligned to the lowest significant bit of the 10-bit raw pixel data from the sensor. Thus if the digital gain is not active (G=0), each increment of four increases the output grey level just for one count. X=1 : Store the current parameter configuration to the flash. Y=1 : Show the current parameter configuration. Z=1 : Load the factory default parameter configuration. The saved configuration is only affected if you store the reset parameter values with X=1 afterwards. Bonito Technical Manual V2.2.1 64 Index Index B I baud rate ................................................ 53 Bayer filter.............................................. 55 I/O connector .......................................... 23 L C camera dimensions .............................. 15, 16 camera interfaces ..................................... 19 camera I/O connector................................ 23 Camera Link interface ................................ 27 Camera Link output mode setting................. 47 CC2 ........................................................ 31 CE.......................................................... 11 Conformity .............................................. 11 Contacting ................................................ 5 D Dark value offset ...................................... 49 declaration of conformity ........................... 11 Digital gain ............................................. 38 document history ....................................... 6 double region of interest mode ................... 37 E Legal notice .............................................. 2 Line address increment.............................. 38 LVAL ...................................................... 33 M Metadata overlay...................................... 48 mosaic pattern......................................... 55 N Number of lines........................................ 46 P Parameter summary .................................. 50 PCLK ...................................................... 33 Power supply ........................................... 23 Primary starting address ............................ 35 product variant code ................................. 52 Exposure control mode .............................. 40 Exposure output ....................................... 23 Exposure time .......................................... 37 External GND ........................................... 23 External Power......................................... 23 R F S FCC Class B .............................................. 11 Fixed Pattern Noise ................................... 36 FPN........................................................ 36 Frame duration ........................................ 37 FVAL ...................................................... 33 Save parameters....................................... 50 Secondary starting address......................... 36 Serial interface ........................................ 30 serial I/O ................................................ 19 Serial number .......................................... 51 SerTC ..................................................... 30 SerTFG.................................................... 30 specifications .......................................... 12 Spectral sensitivity ................................... 14 styles ....................................................... 9 Support .................................................... 5 H Help text ................................................ 54 Requirements .......................................... 19 Reserve control input ................................ 31 Reset to factory defaults ............................ 51 RoHS (2002/95/EC) .................................. 11 Bonito Technical Manual V2.2.1 65 Index symbols .................................................... 9 Synchronization output ............................. 39 T Technical information.................................. 5 test image generator ................................. 48 Timer prescaler value ................................ 39 Timing.................................................... 33 Trigger input ........................................... 23 Trigger source selection ............................. 48 V Version information .................................. 50 Bonito Technical Manual V2.2.1 66
